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Design operation

Overview
suspension is the term given to the system of springs, shock absorbers that connects a vehicle to its wheels. Suspension system serve a dual purpose contributing to the vehicles road holding and braking for good active safety and driving pleasure, and keeping vehicle comfortable. A good car suspension system should have satisfactory road holding ability, while still providing comfort when riding over bumps and holes in the road, when the bus is experiencing any road disturbance. (i.e. potholes, cracks and uneven pavement)
In such a situation, the wheels can lose contact with the road completely. Then, under the downward force of gravity, the wheels can slam back into the road surface. The solution of this problem is we need something that can absorb the energy of the vertically.

In this project we will design an active suspension system. Active suspension system consist of the following components: PID controller, adjustable shocks(dampers), springs, an accelerometer at each wheel, and actuator atop each shock absober(damper) and spring. Active suspension system works by constantly sensing changes in the road surface and feeding that information to the PID controller, to the outlying components. These components then act upon system to modify its character by adjusting shock stiffness, spring rate and the like to improve ride performance, drivability, responsiveness, etc.

Springs
A car's springs are the central part of the suspension. There are different designs of springs, such as torsion bars and leaf springs, but nearly all of today's passenger cars use coil springs at all four corners. Springs absorb and store road shock caused by bumps, dips, and cracks. They absorb this shock by either compressing or extending. When a car's wheel goes over a bump and gets pushed upward, the spring absorbs that additional load keeping the road shock from reaching the chassis, and makes sure the tire maintains contact with the pavement. How much a spring compresses or extends is determined by its "spring rate." Spring rate is measured in pounds per inch of deflection; for example, 100 pounds per inch. So say a load of 200 pounds is applied then the spring will deflect 2 inches. Spring rate comes from various factors for a coil spring. This includes the number of active coils, the diameter of the coils, and the diameter of the spring wire. A spring that absorbs lots of energy will generally offer a comfortable ride.

Shock absorbers
A problem with springs is that they don't dissipate energy. When a bump in the road compresses a spring, it stores the energy. It then springs back, pushing back against the road with almost as much force as the road had exerted. (Some of the force is dissipated as heat.) If the suspension consisted of nothing but springs and tires, the car would bounce up and down continuously, making for an uncomfortable and dangerous ride. Example on how the damper works: If you have a Slinky lying around Hold up a compressed Slinky in the air with your hand. Now hold just one end and let the other drop. The Slinky will absorb the potential energy caused by gravity (just like how a car's spring absorbs road shock) and then bounce up and down, up and down (aka: oscillate), for a long time. This what an automotive spring does if it doesn't have a shock absorber attached to it. Shock absorbers are the solution to this. There are many different kinds, but they all consist of a column or flexible container filled with a fluid. When a coil inside is compressed, a piston pushes down on the shock absorber, compressing the fluid. This pushes the fluid out of the way, creating resistance. This resistance turns the energy pushing down on the shock into heat, which leaks out into the air. Instead of storing the energy from every jolt in the spring, most of it is dissipated through the shock. The car doesn't bounce back violently--it only rebounds enough to stay in contact with the road.

PID controller
PID stands for proportional, integral and derivative. The controller is designed to take necessary actions to improve the performance abilities already set. The controller amplifies the signals and the amplified signals are fed to the actuator togenerate the required forces to form closed loop system (active suspension system). Futhermore, its is use to eliminate the need for continuous operator attention. It will change in response to a change in measurement.

Accelerometer
An accelerometer is a device that measure proper acceleration. However, the proper acceleration measured by an accelerometer is not necessarily the coordinate acceleration (rate change of velocity). Instead, it is the acceleration associated with phenomenon of weight experienced by any test mass at rest in the frame of reference of the accelerometer device. An accelerometer thus measures weight per unit of (test) mass, a quantity of with dimensions of acceleration that is sometimes known as specific force, or g-force (although it is not a force). Another way of stating this is that by measuring weight, an accelerometer measures the acceleration of the free-fall reference frame (inertial reference frame) relative to itself (the accelerometer). Most accelerometer does not display the value they measure, but supply it to other devices. The function of accelerometer in this active suspension is to measure the acceleration of the sprung mass and unsprung mass. The analog signals from the sensors are sent to a controller.

How active suspension system works


We know that active suspension system works by constantly sensing changes in the road surface by sensors and feeding that information to the PID controller, to the outlying components. These components then act upon system to modify its character, adjusting shock stiffness, spring rate and the like, to improve ride performance, drivability, responsiveness, etc.

You are cruising down the road in a car with a fully active suspension system. Rounding your first turn, you hit a series of potholes, each one larger then the next. In active suspension systems, accelerometer are used to measure the acceleration of sprung mass and unsprung mass and the analog signals from the sensors are sent to a controller. The controller is designed to take necessary actions to improve the performance abilities already set. The controller amplifies the signals and the amplified signals are fed to the actuator to generate the required forces to form closed loop system (active suspension system), which is schematically depicted in Figure.

accelerometer

spring &shock absober

PID controller

Block Diagram

The PID controller collects, analyzes and interprets the data n approximately 10 milliseconds. It sends an urgent message to the actuator atop the right-front coil spring to stiffen up to accomplish this, an engine-driven oil pump operating an nearly 3000 pounds per square inch sends to the actuator (servo), which increases spring tension, thereby reducing body roll, yaw, and spring oscillations. A similar message but of slightly less intense nature is sent to the actuator atop the right-rear coil spring, with similar results. At the same time, another set of actuators kicks in and temporarily increase the rigidity of the suspension damped(shock absorber) on the right

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